Add asset desktop_supplies/office_stationery/5e2faec868e05112a81b09dae7d3f2b2
Browse files
.gitattributes
CHANGED
|
@@ -6346,3 +6346,4 @@ dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/affo
|
|
| 6346 |
dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6347 |
dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6348 |
dataset/desktop_supplies/office_stationery/5e0b1ffd62b15b349be2f8bb96b3f148/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6346 |
dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6347 |
dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6348 |
dataset/desktop_supplies/office_stationery/5e0b1ffd62b15b349be2f8bb96b3f148/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6349 |
+
dataset/desktop_supplies/office_stationery/5e2faec868e05112a81b09dae7d3f2b2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/desktop_supplies/office_stationery/5e2faec868e05112a81b09dae7d3f2b2/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,522 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "front/back cover surface",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the notebook by clamping the broad cover faces to pick it up",
|
| 10 |
+
"confidence": 0.89
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the cover surface to stabilize the notebook during repositioning",
|
| 14 |
+
"confidence": 0.84
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "support the notebook against the cover while opening or closing it",
|
| 18 |
+
"confidence": 0.77
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"cover the pages",
|
| 23 |
+
"protect the contents",
|
| 24 |
+
"provide a rigid exterior surface",
|
| 25 |
+
"support opening and closing",
|
| 26 |
+
"provide writing support"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large off-white to light beige rectangular cover panel with a smooth matte finish, plain unmarked appearance, and slightly rounded corners forming the main exterior faces of the notebook.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9808048605918884,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.1205225600861013,
|
| 35 |
+
-0.040749818057520315,
|
| 36 |
+
0.00042307709372835234
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.018242019693941798,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.705229771006828,
|
| 42 |
+
-0.004195524878044199,
|
| 43 |
+
-0.708731681508693
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.980292022228241,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.11694105854257941,
|
| 51 |
+
0.033439599006669596,
|
| 52 |
+
-0.000839963809994515
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.003359236306455889,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.7028162768296038,
|
| 58 |
+
-0.006297613612636588,
|
| 59 |
+
0.7113356005554603
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_3": {
|
| 64 |
+
"confidence": 0.9799270629882812,
|
| 65 |
+
"position": [
|
| 66 |
+
-4.948209971189499e-05,
|
| 67 |
+
-0.13451095295022242,
|
| 68 |
+
0.0015123566627153195
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.501902859939808,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.5086783944614526,
|
| 74 |
+
-0.49191931067166494,
|
| 75 |
+
-0.4973481697771435
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_5": {
|
| 80 |
+
"confidence": 0.9794251322746277,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.12261318555101752,
|
| 83 |
+
-0.035214848787290975,
|
| 84 |
+
-0.0014813040834269486
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.01352511739269543,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.7086638568383605,
|
| 90 |
+
0.0025720886960888256,
|
| 91 |
+
-0.7054119318314885
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_7": {
|
| 96 |
+
"confidence": 0.9792314767837524,
|
| 97 |
+
"position": [
|
| 98 |
+
0.009924072306603193,
|
| 99 |
+
-0.13488673043320887,
|
| 100 |
+
-0.002695318682526704
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.5003186286563749,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.5050284373269862,
|
| 106 |
+
0.49059309258017036,
|
| 107 |
+
0.5039305158681018
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_11": {
|
| 112 |
+
"confidence": 0.9790103435516357,
|
| 113 |
+
"position": [
|
| 114 |
+
0.0015545168425887823,
|
| 115 |
+
-0.13426413011620753,
|
| 116 |
+
-0.0029912827521911822
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.5004706290128497,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.5019876446109585,
|
| 122 |
+
0.49700288181485375,
|
| 123 |
+
0.5005254135617444
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_12": {
|
| 128 |
+
"confidence": 0.978980302810669,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.11511983862146735,
|
| 131 |
+
0.025588223739759997,
|
| 132 |
+
-0.0005730537450290285
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.001053647160389523,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.7049672959389602,
|
| 138 |
+
-0.0048000808951201845,
|
| 139 |
+
-0.7092227863708074
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_14": {
|
| 144 |
+
"confidence": 0.9789395332336426,
|
| 145 |
+
"position": [
|
| 146 |
+
0.037303043995052576,
|
| 147 |
+
-0.13139692318509333,
|
| 148 |
+
-0.004405020874401089
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.6026906438896833,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.3723483735816714,
|
| 154 |
+
-0.5810182720013394,
|
| 155 |
+
-0.40067248977125924
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_15": {
|
| 160 |
+
"confidence": 0.9788100719451904,
|
| 161 |
+
"position": [
|
| 162 |
+
-0.122494304087013,
|
| 163 |
+
-0.030690109328133985,
|
| 164 |
+
-0.002748452032392379
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.7062860344449652,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.000710068488715095,
|
| 170 |
+
0.7077879170578496,
|
| 171 |
+
-0.013992777338937308
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
}
|
| 175 |
+
}
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"part_name": "page block edge",
|
| 179 |
+
"mask_color": "Blue",
|
| 180 |
+
"graspable": true,
|
| 181 |
+
"grasp_scenarios": [
|
| 182 |
+
{
|
| 183 |
+
"scenario": "grasp the notebook along the exposed page block edge to lift it",
|
| 184 |
+
"confidence": 0.82
|
| 185 |
+
},
|
| 186 |
+
{
|
| 187 |
+
"scenario": "clamp the page block edge to stabilize the notebook during handling",
|
| 188 |
+
"confidence": 0.78
|
| 189 |
+
},
|
| 190 |
+
{
|
| 191 |
+
"scenario": "pinch near the page edges to separate or align pages",
|
| 192 |
+
"confidence": 0.58
|
| 193 |
+
}
|
| 194 |
+
],
|
| 195 |
+
"functional_labels": [
|
| 196 |
+
"provide writable sheets",
|
| 197 |
+
"store notes",
|
| 198 |
+
"form the paper thickness of the notebook",
|
| 199 |
+
"support page turning"
|
| 200 |
+
],
|
| 201 |
+
"semantic_description": "Exposed stack of white paper page edges with a matte layered texture, visible as a narrow band around the sides opposite the covers.",
|
| 202 |
+
"id": 2,
|
| 203 |
+
"grasp_group": {
|
| 204 |
+
"grasp_42": {
|
| 205 |
+
"confidence": 0.9721657037734985,
|
| 206 |
+
"position": [
|
| 207 |
+
0.02294349716976285,
|
| 208 |
+
0.1349924318783451,
|
| 209 |
+
0.002805747186357621
|
| 210 |
+
],
|
| 211 |
+
"orientation": {
|
| 212 |
+
"w": 0.4833625686028604,
|
| 213 |
+
"xyz": [
|
| 214 |
+
0.508077792962557,
|
| 215 |
+
0.509304467407371,
|
| 216 |
+
-0.4988251628084093
|
| 217 |
+
]
|
| 218 |
+
}
|
| 219 |
+
},
|
| 220 |
+
"grasp_43": {
|
| 221 |
+
"confidence": 0.971481442451477,
|
| 222 |
+
"position": [
|
| 223 |
+
0.023763588164001703,
|
| 224 |
+
0.13464596497942694,
|
| 225 |
+
0.0025394969634362496
|
| 226 |
+
],
|
| 227 |
+
"orientation": {
|
| 228 |
+
"w": 0.48707262293241727,
|
| 229 |
+
"xyz": [
|
| 230 |
+
0.506750169306983,
|
| 231 |
+
0.5098624708461227,
|
| 232 |
+
-0.495988696161279
|
| 233 |
+
]
|
| 234 |
+
}
|
| 235 |
+
},
|
| 236 |
+
"grasp_44": {
|
| 237 |
+
"confidence": 0.9708884358406067,
|
| 238 |
+
"position": [
|
| 239 |
+
0.03367898287251592,
|
| 240 |
+
0.13271703946520574,
|
| 241 |
+
-0.0008288001627079211
|
| 242 |
+
],
|
| 243 |
+
"orientation": {
|
| 244 |
+
"w": 0.4691130461157443,
|
| 245 |
+
"xyz": [
|
| 246 |
+
0.5306295623013733,
|
| 247 |
+
0.47293471690030986,
|
| 248 |
+
-0.5241163717403646
|
| 249 |
+
]
|
| 250 |
+
}
|
| 251 |
+
},
|
| 252 |
+
"grasp_46": {
|
| 253 |
+
"confidence": 0.9702202677726746,
|
| 254 |
+
"position": [
|
| 255 |
+
0.024735324550420046,
|
| 256 |
+
0.13258666920592077,
|
| 257 |
+
0.0017660980593063869
|
| 258 |
+
],
|
| 259 |
+
"orientation": {
|
| 260 |
+
"w": 0.4862025074827772,
|
| 261 |
+
"xyz": [
|
| 262 |
+
0.5129361934156271,
|
| 263 |
+
0.5029803183481485,
|
| 264 |
+
-0.4975081733561181
|
| 265 |
+
]
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
"grasp_53": {
|
| 269 |
+
"confidence": 0.9668188691139221,
|
| 270 |
+
"position": [
|
| 271 |
+
0.02374625252559781,
|
| 272 |
+
-0.12902014327119105,
|
| 273 |
+
-0.0011381705044186674
|
| 274 |
+
],
|
| 275 |
+
"orientation": {
|
| 276 |
+
"w": 0.49757738526841827,
|
| 277 |
+
"xyz": [
|
| 278 |
+
-0.5046651936027349,
|
| 279 |
+
0.4907198856898689,
|
| 280 |
+
0.5068764956317069
|
| 281 |
+
]
|
| 282 |
+
}
|
| 283 |
+
},
|
| 284 |
+
"grasp_54": {
|
| 285 |
+
"confidence": 0.9667180776596069,
|
| 286 |
+
"position": [
|
| 287 |
+
0.025006421376019716,
|
| 288 |
+
-0.12919254970620386,
|
| 289 |
+
-0.0006081485407776199
|
| 290 |
+
],
|
| 291 |
+
"orientation": {
|
| 292 |
+
"w": 0.49501200858783995,
|
| 293 |
+
"xyz": [
|
| 294 |
+
-0.5068553000360836,
|
| 295 |
+
0.48831511086343016,
|
| 296 |
+
0.5095185655906959
|
| 297 |
+
]
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
"grasp_57": {
|
| 301 |
+
"confidence": 0.9642660021781921,
|
| 302 |
+
"position": [
|
| 303 |
+
0.024706550408154726,
|
| 304 |
+
-0.13918199014733545,
|
| 305 |
+
-0.002483244192262646
|
| 306 |
+
],
|
| 307 |
+
"orientation": {
|
| 308 |
+
"w": 0.4987974565916664,
|
| 309 |
+
"xyz": [
|
| 310 |
+
-0.4991211004436806,
|
| 311 |
+
0.49313502787474395,
|
| 312 |
+
0.5088192888173065
|
| 313 |
+
]
|
| 314 |
+
}
|
| 315 |
+
}
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
{
|
| 319 |
+
"part_name": "spine binding",
|
| 320 |
+
"mask_color": "Green",
|
| 321 |
+
"graspable": true,
|
| 322 |
+
"grasp_scenarios": [
|
| 323 |
+
{
|
| 324 |
+
"scenario": "grasp the narrow spine area to orient the notebook from the side",
|
| 325 |
+
"confidence": 0.74
|
| 326 |
+
},
|
| 327 |
+
{
|
| 328 |
+
"scenario": "hold the spine while pulling the notebook from a tight space",
|
| 329 |
+
"confidence": 0.78
|
| 330 |
+
},
|
| 331 |
+
{
|
| 332 |
+
"scenario": "stabilize the notebook by clamping near the bound edge during opening",
|
| 333 |
+
"confidence": 0.7
|
| 334 |
+
}
|
| 335 |
+
],
|
| 336 |
+
"functional_labels": [
|
| 337 |
+
"bind the pages together",
|
| 338 |
+
"connect the covers to the page block",
|
| 339 |
+
"provide structural reinforcement",
|
| 340 |
+
"define notebook orientation"
|
| 341 |
+
],
|
| 342 |
+
"semantic_description": "Narrow bound strip running along one long edge of the notebook, off-white to light gray with visible darker binding lines and a slightly raised banded appearance.",
|
| 343 |
+
"id": 1,
|
| 344 |
+
"grasp_group": {
|
| 345 |
+
"grasp_23": {
|
| 346 |
+
"confidence": 0.9697946310043335,
|
| 347 |
+
"position": [
|
| 348 |
+
0.07848832616582513,
|
| 349 |
+
0.12425516921211965,
|
| 350 |
+
0.017944034516403917
|
| 351 |
+
],
|
| 352 |
+
"orientation": {
|
| 353 |
+
"w": 0.34698040239672834,
|
| 354 |
+
"xyz": [
|
| 355 |
+
0.662239778411713,
|
| 356 |
+
0.35334938417822725,
|
| 357 |
+
-0.5623053342648258
|
| 358 |
+
]
|
| 359 |
+
}
|
| 360 |
+
},
|
| 361 |
+
"grasp_26": {
|
| 362 |
+
"confidence": 0.9677486419677734,
|
| 363 |
+
"position": [
|
| 364 |
+
0.03471207479014993,
|
| 365 |
+
0.13103349137236364,
|
| 366 |
+
-4.033886216348037e-05
|
| 367 |
+
],
|
| 368 |
+
"orientation": {
|
| 369 |
+
"w": 0.4742847367690236,
|
| 370 |
+
"xyz": [
|
| 371 |
+
0.519999639449354,
|
| 372 |
+
0.488586400552966,
|
| 373 |
+
-0.5156914703921099
|
| 374 |
+
]
|
| 375 |
+
}
|
| 376 |
+
},
|
| 377 |
+
"grasp_27": {
|
| 378 |
+
"confidence": 0.9670467376708984,
|
| 379 |
+
"position": [
|
| 380 |
+
0.07534427056089044,
|
| 381 |
+
0.1272271536581684,
|
| 382 |
+
0.0006074986085877754
|
| 383 |
+
],
|
| 384 |
+
"orientation": {
|
| 385 |
+
"w": 0.361034044124746,
|
| 386 |
+
"xyz": [
|
| 387 |
+
0.6050832624755625,
|
| 388 |
+
0.36755274921526593,
|
| 389 |
+
-0.6069873483023847
|
| 390 |
+
]
|
| 391 |
+
}
|
| 392 |
+
},
|
| 393 |
+
"grasp_28": {
|
| 394 |
+
"confidence": 0.9666798710823059,
|
| 395 |
+
"position": [
|
| 396 |
+
0.07693941751495004,
|
| 397 |
+
0.12504928934504278,
|
| 398 |
+
-0.0002613160540931858
|
| 399 |
+
],
|
| 400 |
+
"orientation": {
|
| 401 |
+
"w": 0.3586854915292322,
|
| 402 |
+
"xyz": [
|
| 403 |
+
0.6009972699111025,
|
| 404 |
+
0.3683253279117439,
|
| 405 |
+
-0.6119505311253035
|
| 406 |
+
]
|
| 407 |
+
}
|
| 408 |
+
},
|
| 409 |
+
"grasp_29": {
|
| 410 |
+
"confidence": 0.9665091037750244,
|
| 411 |
+
"position": [
|
| 412 |
+
0.03648469829931855,
|
| 413 |
+
0.12923673915793188,
|
| 414 |
+
0.002278320120240096
|
| 415 |
+
],
|
| 416 |
+
"orientation": {
|
| 417 |
+
"w": 0.4688168165446984,
|
| 418 |
+
"xyz": [
|
| 419 |
+
0.5324271601365068,
|
| 420 |
+
0.48131812784043737,
|
| 421 |
+
-0.5148446090676732
|
| 422 |
+
]
|
| 423 |
+
}
|
| 424 |
+
},
|
| 425 |
+
"grasp_30": {
|
| 426 |
+
"confidence": 0.9660983681678772,
|
| 427 |
+
"position": [
|
| 428 |
+
0.07676654169335961,
|
| 429 |
+
0.12218079346348532,
|
| 430 |
+
-0.0027251815408817492
|
| 431 |
+
],
|
| 432 |
+
"orientation": {
|
| 433 |
+
"w": 0.35887673505832746,
|
| 434 |
+
"xyz": [
|
| 435 |
+
0.5981003030737,
|
| 436 |
+
0.3687657298785064,
|
| 437 |
+
-0.6144065046564822
|
| 438 |
+
]
|
| 439 |
+
}
|
| 440 |
+
},
|
| 441 |
+
"grasp_32": {
|
| 442 |
+
"confidence": 0.965369462966919,
|
| 443 |
+
"position": [
|
| 444 |
+
0.07744075218215585,
|
| 445 |
+
0.12054416167666204,
|
| 446 |
+
-0.0063363906447193585
|
| 447 |
+
],
|
| 448 |
+
"orientation": {
|
| 449 |
+
"w": 0.35237540102341547,
|
| 450 |
+
"xyz": [
|
| 451 |
+
0.5820831927452091,
|
| 452 |
+
0.36945588015136654,
|
| 453 |
+
-0.6328610322169553
|
| 454 |
+
]
|
| 455 |
+
}
|
| 456 |
+
},
|
| 457 |
+
"grasp_33": {
|
| 458 |
+
"confidence": 0.9650903940200806,
|
| 459 |
+
"position": [
|
| 460 |
+
0.0779078365303576,
|
| 461 |
+
0.11822689700056799,
|
| 462 |
+
-0.0008312235222547315
|
| 463 |
+
],
|
| 464 |
+
"orientation": {
|
| 465 |
+
"w": 0.3619662417208763,
|
| 466 |
+
"xyz": [
|
| 467 |
+
0.6071821412339532,
|
| 468 |
+
0.36979100145664157,
|
| 469 |
+
-0.6029634337691714
|
| 470 |
+
]
|
| 471 |
+
}
|
| 472 |
+
},
|
| 473 |
+
"grasp_38": {
|
| 474 |
+
"confidence": 0.9622710943222046,
|
| 475 |
+
"position": [
|
| 476 |
+
0.07831365475431085,
|
| 477 |
+
0.11415843295981176,
|
| 478 |
+
-0.0019393296897760592
|
| 479 |
+
],
|
| 480 |
+
"orientation": {
|
| 481 |
+
"w": 0.3597052968931749,
|
| 482 |
+
"xyz": [
|
| 483 |
+
0.5997675479351778,
|
| 484 |
+
0.36842711593948985,
|
| 485 |
+
-0.6124968963768932
|
| 486 |
+
]
|
| 487 |
+
}
|
| 488 |
+
}
|
| 489 |
+
}
|
| 490 |
+
},
|
| 491 |
+
{
|
| 492 |
+
"part_name": "page block corner",
|
| 493 |
+
"mask_color": "Orange",
|
| 494 |
+
"graspable": false,
|
| 495 |
+
"grasp_scenarios": [],
|
| 496 |
+
"functional_labels": [
|
| 497 |
+
"form the page-block boundary",
|
| 498 |
+
"define a corner of the page stack"
|
| 499 |
+
],
|
| 500 |
+
"semantic_description": "Small exposed white paper-edge corner segment with a layered matte paper appearance at one outer corner of the notebook.",
|
| 501 |
+
"id": 4,
|
| 502 |
+
"grasp_group": {}
|
| 503 |
+
},
|
| 504 |
+
{
|
| 505 |
+
"part_name": "cover corner edge",
|
| 506 |
+
"mask_color": "Yellow",
|
| 507 |
+
"graspable": false,
|
| 508 |
+
"grasp_scenarios": [],
|
| 509 |
+
"functional_labels": [
|
| 510 |
+
"form the cover boundary",
|
| 511 |
+
"define the cover corner shape"
|
| 512 |
+
],
|
| 513 |
+
"semantic_description": "Small off-white corner strip at the outer edge of the cover, smooth and matte, visible only as a thin corner detail in angled views.",
|
| 514 |
+
"id": 3,
|
| 515 |
+
"grasp_group": {}
|
| 516 |
+
}
|
| 517 |
+
],
|
| 518 |
+
"quality_check": {
|
| 519 |
+
"success": false,
|
| 520 |
+
"message": "Several mask-part identities are swapped; page edge and spine descriptions do not match segmented colors or geometry."
|
| 521 |
+
}
|
| 522 |
+
}
|
dataset/desktop_supplies/office_stationery/5e2faec868e05112a81b09dae7d3f2b2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cb724c516052bdaa6acfda37ccef2a9352e2fe085d56405b56d3c46cf0ef84e3
|
| 3 |
+
size 3739232
|